Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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 MAIN MANUAL 
REFERENCE_CONF 0x01 (Default value: 0x00000000)
R/W
Bit
Val
Remarks
RW
24:23
pos_comp_output
0
TARGET_REACHED is set active on TARGET_REACHED_F lag.
1
TARGET_REACHED is set active on VELOCITY_REACHED_F lag.
2
TARGET_REACHED is set active on ENC_FAIL flag.
3
TARGET_REACHED triggers on POSCOMP_REACHED_F lag.
25
pos_comp_source
0
POS_COMP is compared to internal position XACTUAL .
1
POS_COMP is compared with external position ENC_POS .
26
stop_on_stall
0
SPI and S/D output interface remain active in case of an stall event.
1
SPI and S/D output interface stops motion in case of an stall event (hard stop).
27
drv_after_stall
0
No further motion in case of an active stop-on-stall event.
1
Motion is possible in case of an active stop-on-stall event and after the stop-on-stall
event is reset.
29:28
modified_pos_compare:
POS_COMP_REACHED_F / event is based on comparison
between XACTUAL resp. ENC_POS and
0
POS_COMP
1
X_HOME
2
X_LATCH resp. ENC_LATCH
3
REV_CNT
30
automatic_cover
0
SPI output interface will not transfer automatically any cover datagram.
1
SPI output interface sends automatically cover datagrams when VACTUAL crosses
SPI_SWITCH_VEL .
31
circular_enc_en
0
Range of ENC_POS is not limited: -2
31
≤ ENC_POS ≤ 2
31
-1
1
Range of ENC_POS is limited by X_RANGE : - X_RANGE ≤ ENC_POS ≤ X_RANGE –1
Table 66: Reference Switch Configuration 0x01